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P6DofHardwareAutopilotSkidToTurn Class Reference

#include <P6DofHardwareAutopilotSkidToTurn.hpp>

Inheritance diagram for P6DofHardwareAutopilotSkidToTurn:
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Collaboration diagram for P6DofHardwareAutopilotSkidToTurn:
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Public Member Functions

 P6DofHardwareAutopilotSkidToTurn (P6DofScenario *aScenario)
 ~P6DofHardwareAutopilotSkidToTurn () override=default
P6DofHardwareAutopilotSkidToTurn & operator= (const P6DofHardwareAutopilotSkidToTurn &other)=delete
P6DofHardwareAutopilotSkidToTurn * Clone () const
bool ProcessInput (UtInput &aInput) override
bool Initialize (int64_t aSimTime_nanosec) override
std::string GetPilotType () const override
Public Member Functions inherited from P6DofHardwareAutopilot
 P6DofHardwareAutopilot (P6DofScenario *aScenario)
 ~P6DofHardwareAutopilot () override=default
P6DofHardwareAutopilot & operator= (const P6DofHardwareAutopilot &other)=delete
P6DofHardwareAutopilot * Clone () const
virtual void HoldAltitude ()
virtual void HoldVerticalSpeed ()
virtual void HoldPitchAngle ()
virtual void HoldBankAngle ()
virtual void HoldHeading ()
virtual void HoldSpeedKCAS ()
virtual void HoldSpeedKTAS ()
virtual void HoldSpeedMach ()
Public Member Functions inherited from P6DofPilotObject
 P6DofPilotObject (P6DofScenario *aScenario)
 ~P6DofPilotObject () override
P6DofPilotObject & operator= (const P6DofPilotObject &other)=delete
P6DofPilotObject * Clone () const
P6DofScenario * GetScenario ()
virtual void Update (int64_t aSimTime_nanosec, P6DofKinematicState &aState)
void SetLastSimTime (int64_t aLastSimTime_nanosec)
void InputAngleDeltas (double aYaw_rad, double aPitch_rad, double aRoll_rad)
void EnableControlInputs (bool aEnabled)
bool ControlsAreEnabled () const
void SetDestroyed ()
size_t GetControlHandle (const std::string &aControlName) const
size_t GetStdStickBackHandle () const
size_t GetStdStickRightHandle () const
size_t GetStdRudderRightHandle () const
size_t GetStdThrottleMilHandle () const
size_t GetStdThrottleABHandle () const
size_t GetStdThrustReverserHandle () const
size_t GetStdThrustVectoringYawHandle () const
size_t GetStdThrustVectoringPitchHandle () const
size_t GetStdThrustVectoringRollHandle () const
size_t GetStdSpeedBrakesOutHandle () const
size_t GetStdFlapsDownHandle () const
size_t GetStdSpoilersOutHandle () const
size_t GetStdLandingGearDownHandle () const
size_t GetStdNoseWheelSteeringHandle () const
size_t GetStdNWS_SteeringHandle () const
size_t GetStdNWS_EnabledHandle () const
size_t GetStdWheelBrakeLeftHandle () const
size_t GetStdWheelBrakeRightHandle () const
double ControlInputValue (size_t aControlInputHandle) const
bool ControlInputValueBool (size_t aControlInputHandle) const
double GetStickBackControllerPosition () const
double GetStickRightControllerPosition () const
double GetRudderRightControllerPosition () const
double GetThrottleControllerPosition () const
double GetThrottleMilitaryControllerPosition () const
double GetThrottleAfterburnerControllerPosition () const
double GetSpeedBrakesControllerPosition () const
double GetFlapsControllerPosition () const
virtual double GetLandingGearControllerPosition () const
virtual double GetSpoilersControllerPosition () const
virtual double GetThrustReverserControllerPosition () const
virtual bool UsingManualControl () const
virtual void TakeManualControl ()
virtual void ReleaseManualControl ()
virtual void SetManualControlData (double aStickRightPosition, double aStickAftPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition)
virtual void SetManualControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition)
virtual void SetManualControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition, double aLandingGearLeverPosition)
virtual void SetManualControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aThrustReverserLeverPosition, double aThrustVectorYawRightPosition, double aThrustVectorPitchUpPosition, double aThrustVectorRollRightPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition, double aLandingGearLeverPosition, double aNoseWheelSteeringRightPosition, double aWheelBrakeLeftPosition, double aWheelBrakeRightPosition, bool aNWS_Enabled)
virtual void SetTrimManualControlData (double aNoseUpTrimDeltaT_sec, double aRollRightTrimDeltaT_sec, double aYawRightTrimDeltaT_sec)
virtual void SetControlAugmentationModeActive (bool aCASIsActive)
virtual bool ControlAugmentationModeIsActive () const
virtual bool UsingExternalDirectControl () const
virtual void TakeExternalDirectControl ()
virtual void ReleaseExternalDirectControl ()
virtual void SetExternalDirectControlData (double aStickRightPosition, double aStickAftPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition)
virtual void SetExternalDirectControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition)
virtual void SetExternalDirectControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition, double aLandingGearLeverPosition)
virtual void SetExternalDirectControlData (double aStickRightPosition, double aStickAftPosition, double aRudderRightPosition, double aThrottleLeverPosition, double aThrustReverserLeverPosition, double aThrustVectorYawRightPosition, double aThrustVectorPitchUpPosition, double aThrustVectorRollRightPosition, double aSpdBrakeLeverPosition, double aSpoilerLeverPosition, double aFlapsLeverPosition, double aLandingGearLeverPosition, double aNoseWheelSteeringRightPosition, double aWheelBrakeLeftPosition, double aWheelBrakeRightPosition, bool aNWS_Enabled)
virtual void SetExternalDirectControlTrimManualControlData (double aNoseUpTrimDeltaT_sec, double aRollRightTrimDeltaT_sec, double aYawRightTrimDeltaT_sec)
bool UsingTestControl () const
void TakeTestControl ()
void ReleaseTestControl ()
void SetTestStickBackControllerPosition (double aStickAftPosition)
void SetTestStickRightControllerPosition (double aStickRightPosition)
void SetTestRudderRightControllerPosition (double aRudderRightPosition)
void SetTestSpeedBrakesControllerPosition (double aSpeedBrakesPosition)
void SetTestFlapsControllerPosition (double aFlapsPosition)
void SetTestSpoilersControllerPosition (double aSpoilersPosition)
void SetTestLandingGearControllerPosition (double aLandingGearPosition)
void SetTestThrottleControllerPosition (double aThrottlePosition)
virtual void SetTestThrottleMilitaryControllerPosition (double aThrottleLeverPosition)
virtual void SetTestThrottleAfterburnerControllerPosition (double aThrottleLeverPosition)
void SetPrePositionTAS (double aAltitude_ft, double aKTAS)
void SetPrePositionCAS (double aAltitude_ft, double aKCAS)
void SetPrePositionMach (double aAltitude_ft, double aMach)
void SetPrePositionQ (double aAltitude_ft, double aDynamicPressure_lbft2)
P6DofAutopilotAction * GetCurrentAction () const
virtual void GetAutopilotData (P6DOF::AutopilotData *aData)
virtual bool GetAutopilotPidGainData (P6DOF::Pid::Type aTableType, size_t &aNumElements, P6DOF::PidGainData aPidGainData[], unsigned char &aPidFlags)
virtual void GetAutopilotPidValueData (P6DOF::AutopilotPidGroupValueData *aData)
virtual void SetPlannedRoute (P6DofRoute *aRoute)
virtual void SetTempRoute (P6DofRoute *aRoute)
virtual bool GetAfterburnerEnabled () const
virtual void SetAfterburnerEnabled (bool aEnabled)
virtual double GetAfterburnerThreshold () const
virtual void SetAfterburnerThreshold (double aValue=1.0)
virtual bool GetSpeedBrakeEnabled () const
virtual void SetSpeedBrakeEnabled (bool aEnabled)
virtual double GetSpeedBrakeThreshold () const
virtual void SetSpeedBrakeThreshold (double aValue=0.0)
double GetTurnRollInMultiplier ()
void SetTurnRollInMultiplier (double aValue=1.0)
P6DofCommonController::sAutopilotControls * GetCurrentControlLimits ()
virtual void EnableDirectThrottleInput ()
virtual void MoveThrottleToIdle ()
virtual void MoveThrottleToFull ()
virtual void MoveThrottleToAfterburner ()
virtual void ReleaseDirectThrottleInput ()
virtual void EnableDirectSpeedBrakeInput ()
virtual void OpenSpeedBrake ()
virtual void CloseSpeedBrake ()
virtual void SetDirectSpeedBrakesInput (double aValue)
virtual void ReleaseDirectSpeedBrakeInput ()
virtual void EnableDirectBraking ()
virtual void SetParkingBrake ()
virtual void ReleaseParkingBrake ()
virtual void ApplyLeftGearBrake (double aValue)
virtual void ApplyRightGearBrake (double aValue)
virtual void ReleaseDirectBraking ()
virtual void SetLandingGearControlPosition (double aPosition)
virtual void SetFlapsControlPosition (double aPosition)
virtual void SetSpoilersControlPosition (double aPosition)
virtual void SetThrustReverserControlPosition (double aPosition)
virtual void SetEnableNWS (bool aNWS_Enabled)
virtual void FlyTempWaypoints (P6DofRoute *aRoute)
virtual size_t GetPlannedWaypointIndex () const
virtual bool SetPlannedWaypointIndex (size_t aIndex)
virtual bool SetPositionToPlannedWaypoint (size_t aIndex)
virtual size_t GetTempWaypointIndex () const
virtual bool SetTempWaypointIndex (size_t aIndex)
virtual bool SetPositionToTempWaypoint (size_t aIndex)
virtual bool IsOnPlannedRoute () const
virtual void FlyAtPoint (const UtLLAPos &aPt)
virtual void ReturnToPlannedWaypoints ()
virtual void TurnToHeading (double aHeading_rad, double aRadialAccel, P6DofCommonController::eAutopilotTurnDir aTurn)
 radial accel and turn direction ignored for now
virtual void GoToSpeed (double aSpeed, double aLinearAccel)
virtual void GoToAltitude (double aAltitude, double aClimbRate)
virtual bool FlyRates (double aRollRate, double aPitchRate, double aAcceleration, double aSpeed)
virtual bool FlyHeadingSpeedAltitude (double aHeading_rad, double aSpeed, double aAltitude, double aMaxGees, double aMaxClimb)
virtual bool FlySpecificTurn (double aRollError, double aGees, double aSpeed)
virtual bool FlySpecificVector (double aRollError, double aPitchError, double aMaxGees, double aSpeed)
virtual bool FlyYawPitchAccel (double aYawAccel_g, double aPitchAccel_g)
virtual P6DofCommonController * GetCommonController () const
virtual bool AutopilotIsEnabled () const
virtual void GetPlannedWaypoints (P6DOF::AutopilotWaypointDataList *aWaypointDataList) const
virtual void GetTempWaypoints (P6DOF::AutopilotWaypointDataList *aWaypointDataList) const
virtual void GetCurrentWaypoints (P6DOF::AutopilotWaypointDataList *aWaypointDataList) const
virtual void EnableAutopilot (bool aState)
virtual void SetAutopilotPitchAngle (double aPitchAngle_deg)
virtual void SetAutopilotPitchRate (double aPitchRate_dps)
virtual void SetAutopilotFlightPathAngle (double aFlightPathAngle_deg)
virtual void SetAutopilotVerticalSpeed (double aVerticalSpeed_fpm)
virtual void SetAutopilotAltitude (double aAltitude_ft)
virtual void SetPitchGLoad (double aGLoad)
virtual void SetAutopilotAlpha (double aAlpha_deg)
virtual void SetAutopilotDeltaPitch (double aDeltaPitchAngle_deg)
virtual void SetAutopilotRollAngle (double aRollAngle_deg)
virtual void SetAutopilotRollRate (double aRollRate_dps)
virtual void SetAutopilotDeltaRoll (double aDeltaRollAngle_deg)
virtual void SetAutopilotRollHeading (double aRollHeading_deg)
virtual void SetAutopilotYawHeading (double aYawHeading_deg)
virtual void SetAutopilotYawRate (double aYawRate_dps)
virtual void SetAutopilotBeta (double aBeta_deg)
virtual void SetAutopilotYawGLoad (double aBeta_deg)
virtual void SetAutopilotSpeedKTAS (double aSpeed_KTAS)
virtual void SetAutopilotSpeedKCAS (double aSpeed_KCAS)
virtual void SetAutopilotSpeedMach (double aSpeed_Mach)
virtual void SetAutopilotLateralWaypointMode ()
virtual void SetAutopilotVerticalWaypointMode ()
virtual void SetAutopilotSpeedWaypointMode ()
virtual void SetAutopilotWaypointMode ()
virtual void SetAutopilotNoControl ()
Public Member Functions inherited from P6DofObject
 P6DofObject (P6DofScenario *aScenario)
virtual ~P6DofObject ()=default
P6DofObject * Clone () const
P6DofScenario * GetScenario () const
std::string GetName () const
void SetName (const std::string &aName)
P6DofVehicle * GetParentVehicle () const
virtual void SetParentVehicle (P6DofVehicle *aParentVehicle)

Protected Member Functions

 P6DofHardwareAutopilotSkidToTurn (P6DofPilotObject *aPilotObject)
 P6DofHardwareAutopilotSkidToTurn (const P6DofHardwareAutopilotSkidToTurn &aSrc)=default
Protected Member Functions inherited from P6DofHardwareAutopilot
 P6DofHardwareAutopilot (P6DofPilotObject *aPilotObject)
 P6DofHardwareAutopilot (const P6DofHardwareAutopilot &aSrc)=default
Protected Member Functions inherited from P6DofPilotObject
 P6DofPilotObject (const P6DofPilotObject &aSrc)
void DeleteInputOutputPair (sInputOutputPair *&aPair)
void CopyStandardControlInput (sInputOutputPair *aSourceData, sInputOutputPair *&aTargetData)
void ZeroDisabledControlData ()
void MatchStdInputsAndOutputs ()
bool InitializeCommonController ()
virtual void UpdateControlInputsUsingCommonControllerData (double aDeltaT_sec)
virtual void SetThrottleData (double aThrottleLeverPosition)
virtual void SetThrottleMilitaryData (double aThrottleLeverPosition)
virtual void SetThrottleAfterburnerData (double aThrottleLeverPosition)
virtual bool MatchInputOutput (sInputOutputPair *aInputOutput)
virtual void EnforceControlLimits ()
virtual void EnforceSingleControlLimit (double &aValue, const double &aMinValue, const double &aMaxValue)
virtual void SetControlDataWithAutopilotControls ()
virtual void SetControlDataWithControlAugmentationControls ()
virtual void SetControlDataWithStabilityAugmentationControls ()
virtual void LoadControlDataWithAutopilotControlData ()
virtual void LoadControlDataWithAutopilotStabilityData ()
void SetObjectState (double aLat, double aLon, double aAlt, double aNEDVelN_mps, double aNEDVelE_mps, double aNEDVelD_mps, double aLocalHeading_rad, double aLocalPitch_rad, double aLocalRoll_rad)
virtual bool ClonePlannedActionToTempAction ()
virtual void SetTempActionToHoldCurrentConditions ()
virtual void CreateTempActionIfNeeded ()
virtual void SetTempActionToPlannedDataOrCurrentConditions ()
virtual bool ControlModeTestingActive () const
virtual bool ControlModeDisabledActive () const
virtual bool ControlModeAutopilotActive () const
virtual bool ControlModeManualActive () const
virtual bool ControlModeExternalDirectActive () const
virtual bool ControlModeControlAugmentationActive () const
virtual bool ControlModeStabilityAugmentationActive () const
Protected Member Functions inherited from P6DofObject
 P6DofObject (const P6DofObject &aSrc)=default
P6DofObject & operator= (const P6DofObject &other)=default

Friends

class P6DofPilotManager

Additional Inherited Members

Public Attributes inherited from P6DofPilotObject
UtCallbackListN< bool(unsigned int)> WaypointAchieved
Protected Attributes inherited from P6DofPilotObject
P6DofKinematicState mState
int64_t mLastSimTime_nanosec
std::vector< P6DOF::FlightControlInputValue > mControlsList
sInputOutputPair * mStdStickBackPtr
sInputOutputPair * mStdStickRightPtr
sInputOutputPair * mStdRudderRightPtr
sInputOutputPair * mStdThrottleMilPtr
sInputOutputPair * mStdThrottleABPtr
sInputOutputPair * mStdThrustReverserPtr
sInputOutputPair * mStdThrustVectoringYawPtr
sInputOutputPair * mStdThrustVectoringPitchPtr
sInputOutputPair * mStdThrustVectoringRollPtr
sInputOutputPair * mStdSpeedBrakesOutPtr
sInputOutputPair * mStdFlapsDownPtr
sInputOutputPair * mStdSpoilersOutPtr
sInputOutputPair * mStdLandingGearDownPtr
sInputOutputPair * mStdNoseWheelSteeringPtr
sInputOutputPair * mStdNWS_SteeringPtr
sInputOutputPair * mStdNWS_EnabledPtr
sInputOutputPair * mStdWheelBrakeLeftPtr
sInputOutputPair * mStdWheelBrakeRightPtr
size_t mStdStickBackHandle
size_t mStdStickRightHandle
size_t mStdRudderRightHandle
size_t mStdThrottleMilHandle
size_t mStdThrottleABHandle
size_t mStdThrustReverserHandle
size_t mStdThrustVectoringYawHandle
size_t mStdThrustVectoringPitchHandle
size_t mStdThrustVectoringRollHandle
size_t mStdSpeedBrakesOutHandle
size_t mStdFlapsDownHandle
size_t mStdSpoilersOutHandle
size_t mStdLandingGearDownHandle
size_t mStdNoseWheelSteeringHandle
size_t mStdNWS_SteeringHandle
size_t mStdNWS_EnabledHandle
size_t mStdWheelBrakeLeftHandle
size_t mStdWheelBrakeRightHandle
P6DofCommonController * mCommonController
P6DofCommonController::sAutopilotControls mAutopilotControls
P6DofAutopilotAction * mAutopilotActionPtr
const P6DofWaypoint * mPlannedPrevWptDataPtr
const P6DofWaypoint * mPlannedCurrWptDataPtr
const P6DofWaypoint * mPlannedNextWptDataPtr
const P6DofRoute * mPlannedRoutePtr
size_t mCurrentPlannedWaypointIndex
P6DofAutopilotAction * mTempActionPtr
const P6DofWaypoint * mTempPrevWptDataPtr
const P6DofWaypoint * mTempCurrWptDataPtr
const P6DofWaypoint * mTempNextWptDataPtr
const P6DofRoute * mTempRoutePtr
size_t mCurrentTempWaypointIndex
P6DofRoute mTransitionRoute
double mControlAugmentationStickBack
double mControlAugmentationStickRight
double mControlAugmentationRudderRight
double mPitchControlAugmentationFactor_g
double mRollControlAugmentationFactor_dps
double mPitchTrimFactor
double mRollTrimFactor
double mYawTrimFactor
double mNoseUpTrimDeltaT_sec
double mRollRightTrimDeltaT_sec
double mYawRightTrimDeltaT_sec
double mTrimNoseUp
double mTrimRollRight
double mTrimYawRight
UtCloneablePtr< UtTable::Curve > mPitchControlMapping
UtCloneablePtr< UtTable::Curve > mRollControlMapping
UtCloneablePtr< UtTable::Curve > mYawControlMapping
bool mControlOverrideThrottle
bool mControlOverrideSpeedBrakes
bool mControlOverrideWheelBrakes
bool mManualControl
bool mExternalDirectControl
bool mPitchStabilityAugmentationModeActive
bool mYawStabilityAugmentationModeActive
bool mRollStabilityAugmentationModeActive
bool mControlAugmentationModeActive
bool mAutopilotEnabled
bool mControlsEnabled
bool mTestControl
bool mIsDestroyed
Protected Attributes inherited from P6DofObject
P6DofScenario * mScenario
P6DofVehicle * mParentVehicle
std::string mObjName

Constructor & Destructor Documentation

◆ P6DofHardwareAutopilotSkidToTurn() [1/3]

P6DofHardwareAutopilotSkidToTurn::P6DofHardwareAutopilotSkidToTurn ( P6DofScenario * aScenario)
explicit

References P6DofHardwareAutopilot::P6DofHardwareAutopilot().

Referenced by Clone(), operator=(), P6DofHardwareAutopilotSkidToTurn(), and P6DofPilotManager.

◆ ~P6DofHardwareAutopilotSkidToTurn()

P6DofHardwareAutopilotSkidToTurn::~P6DofHardwareAutopilotSkidToTurn ( )
overridedefault

◆ P6DofHardwareAutopilotSkidToTurn() [2/3]

P6DofHardwareAutopilotSkidToTurn::P6DofHardwareAutopilotSkidToTurn ( P6DofPilotObject * aPilotObject)
explicitprotected

References P6DofHardwareAutopilot::P6DofHardwareAutopilot(), and P6DofPilotObject::P6DofPilotObject().

◆ P6DofHardwareAutopilotSkidToTurn() [3/3]

P6DofHardwareAutopilotSkidToTurn::P6DofHardwareAutopilotSkidToTurn ( const P6DofHardwareAutopilotSkidToTurn & aSrc)
protecteddefault

References P6DofHardwareAutopilotSkidToTurn().

Member Function Documentation

◆ Clone()

P6DofHardwareAutopilotSkidToTurn * P6DofHardwareAutopilotSkidToTurn::Clone ( ) const

References P6DofHardwareAutopilotSkidToTurn().

◆ GetPilotType()

std::string P6DofHardwareAutopilotSkidToTurn::GetPilotType ( ) const
inlineoverridevirtual

Reimplemented from P6DofHardwareAutopilot.

◆ Initialize()

bool P6DofHardwareAutopilotSkidToTurn::Initialize ( int64_t aSimTime_nanosec)
overridevirtual

Reimplemented from P6DofPilotObject.

References P6DofPilotObject::Initialize().

◆ operator=()

P6DofHardwareAutopilotSkidToTurn & P6DofHardwareAutopilotSkidToTurn::operator= ( const P6DofHardwareAutopilotSkidToTurn & other)
delete

References P6DofHardwareAutopilotSkidToTurn().

◆ ProcessInput()

bool P6DofHardwareAutopilotSkidToTurn::ProcessInput ( UtInput & aInput)
overridevirtual

Reimplemented from P6DofPilotObject.

References P6DofPilotObject::mCommonController.

◆ P6DofPilotManager

friend class P6DofPilotManager
friend

References P6DofHardwareAutopilotSkidToTurn(), and P6DofPilotManager.

Referenced by P6DofPilotManager.

The documentation for this class was generated from the following files:
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